diff --git a/include/ecdb.h b/include/ecdb.h
index 8dc40a1cdb44eb1882083509afd6f48d619b40e9..1af254b5390b762845ffa84d718dc93a011edf70 100644
--- a/include/ecdb.h
+++ b/include/ecdb.h
@@ -35,8 +35,8 @@
\file
EtherCAT Slave Database.
- \warn Please do not create any dependencies to this file! It may be changed
- between releases. Provide a copy, if you want to use it in foreign
+ \attention Please do not create any dependencies to this file! It may be
+ changed between releases. Provide a copy, if you want to use it in foreign
projects.
*/
diff --git a/include/ecrt.h b/include/ecrt.h
index feda8859dc913de4b3b4dea2198ae51e60e86bb4..e8dbd6da7f5cf3358a4ecfdeb721ecf80f2af7fe 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -59,10 +59,24 @@
/*****************************************************************************/
+/**
+ * EtherCAT real-time interface major version number.
+ */
#define ECRT_VER_MAJOR 1
+
+/**
+ * EtherCAT real-time interface minor version number.
+ */
#define ECRT_VER_MINOR 3
+/**
+ * EtherCAT real-time interface version word generator.
+ */
#define ECRT_VERSION(a,b) (((a) << 8) + (b))
+
+/**
+ * EtherCAT real-time interface version word.
+ */
#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
/*****************************************************************************/
diff --git a/master/canopen.c b/master/canopen.c
index e062cdcfb4fcd1708ab969564eec3baf32f66c44..5a810b6ad74e0f059621c92aaada38168e842b02 100644
--- a/master/canopen.c
+++ b/master/canopen.c
@@ -171,9 +171,14 @@ void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)
/*****************************************************************************/
+/**
+ * Get and SDO entry from an SDO via its subindex.
+ * \return pointer to SDO entry, or NULL.
+ */
+
ec_sdo_entry_t *ec_sdo_get_entry(
- ec_sdo_t *sdo,
- uint8_t subindex
+ ec_sdo_t *sdo, /**< SDO */
+ uint8_t subindex /**< entry subindex */
)
{
ec_sdo_entry_t *entry;
@@ -188,6 +193,11 @@ ec_sdo_entry_t *ec_sdo_get_entry(
/*****************************************************************************/
+/**
+ * Print SDO information to a buffer.
+ * /return size of bytes written to buffer.
+ */
+
ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */
char *buffer /**< target buffer */
)
@@ -203,6 +213,11 @@ ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */
/*****************************************************************************/
+/**
+ * Show an SDO as Sysfs attribute.
+ * /return size of bytes written to buffer.
+ */
+
ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */
struct attribute *attr,
char *buffer
@@ -285,6 +300,11 @@ void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)
}
/*****************************************************************************/
+
+/**
+ * Print SDO entry information to a buffer.
+ * \return number of bytes written.
+ */
ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */
char *buffer /**< target buffer */
@@ -303,6 +323,11 @@ ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */
/*****************************************************************************/
+/**
+ * Format entry data based on the CANopen data type and print it to a buffer.
+ * \return number of bytes written.
+ */
+
ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */
ec_sdo_request_t *request, /**< SDO request */
char *buffer /**< target buffer */
@@ -376,6 +401,13 @@ raw_data:
/*****************************************************************************/
+/**
+ * Start SDO entry reading.
+ * This function blocks, until reading is finished, and is interruptible as
+ * long as the master state machine has not begun with reading.
+ * \return number of bytes written to buffer, or error code.
+ */
+
ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */
char *buffer /**< target buffer */
)
@@ -419,6 +451,11 @@ ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */
/*****************************************************************************/
+/**
+ * Show an SDO entry as Sysfs attribute.
+ * /return size of bytes written to buffer.
+ */
+
ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */
struct attribute *attr,
char *buffer
diff --git a/master/canopen.h b/master/canopen.h
index d218ba8bc7377ac03526cf46806aa832ac1eae30..c5693dae2cb9dafb7cd00245c2b57ecadff15b75 100644
--- a/master/canopen.h
+++ b/master/canopen.h
@@ -108,10 +108,10 @@ ec_sdo_data_t;
typedef struct
{
struct list_head list; /**< list item */
- ec_sdo_entry_t *entry;
+ ec_sdo_entry_t *entry; /**< SDO entry */
uint8_t *data; /**< pointer to SDO data */
size_t size; /**< size of SDO data */
- ec_request_state_t state;
+ ec_request_state_t state; /**< SDO request state */
}
ec_sdo_request_t;
diff --git a/master/datagram.c b/master/datagram.c
index 007cc5ea197c343f6fc299bb32bf70eb9754482e..50ab5afdfa61dd3ba82394d9aa89b870a6971365 100644
--- a/master/datagram.c
+++ b/master/datagram.c
@@ -309,7 +309,7 @@ int ec_datagram_lrw(ec_datagram_t *datagram,
*/
void ec_datagram_print_wc_error(
- const ec_datagram_t *datagram
+ const ec_datagram_t *datagram /**< EtherCAT datagram */
)
{
if (datagram->working_counter == 0)
diff --git a/master/device.h b/master/device.h
index ad8c5f4858a909850cc94c830d8050cd77ed75b3..df59c20da662525ab08cc8d2ee21ea085431723a 100644
--- a/master/device.h
+++ b/master/device.h
@@ -47,6 +47,12 @@
#include "../devices/ecdev.h"
#include "globals.h"
+/**
+ * Size of the transmit ring.
+ * This memory ring is used to transmit frames. It is necessary to use
+ * different memory regions, because otherwise the network device DMA could
+ * send the same data twice, if it is called twice.
+ */
#define EC_TX_RING_SIZE 2
#ifdef EC_DEBUG_IF
@@ -87,7 +93,7 @@ struct ec_device
uint8_t open; /**< true, if the net_device has been opened */
uint8_t link_state; /**< device link state */
struct sk_buff *tx_skb[EC_TX_RING_SIZE]; /**< transmit skb ring */
- unsigned int tx_ring_index;
+ unsigned int tx_ring_index; /**< last ring entry used to transmit */
cycles_t cycles_poll; /**< cycles of last poll */
#ifdef EC_DEBUG_RING
struct timeval timeval_poll;
diff --git a/master/fsm_coe_map.c b/master/fsm_coe_map.c
index 9bb5e4399f3a466c012ffd94bdd8646f6a7bfd0c..d842c7df164b529af9a9d35ecf38357488cfeed6 100644
--- a/master/fsm_coe_map.c
+++ b/master/fsm_coe_map.c
@@ -69,7 +69,7 @@ void ec_fsm_coe_map_clear_pdos(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_init(
ec_fsm_coe_map_t *fsm, /**< finite state machine */
- ec_fsm_coe_t *fsm_coe /*< CoE state machine to use */
+ ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
)
{
fsm->state = NULL;
@@ -91,6 +91,7 @@ void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *fsm /**< finite state machine */)
/*****************************************************************************/
/**
+ * Clear FSM PDOs.
*/
void ec_fsm_coe_map_clear_pdos(
@@ -154,6 +155,7 @@ int ec_fsm_coe_map_success(ec_fsm_coe_map_t *fsm /**< Finite state machine */)
*****************************************************************************/
/**
+ * Start reading mapping.
*/
void ec_fsm_coe_map_state_start(
@@ -168,6 +170,7 @@ void ec_fsm_coe_map_state_start(
/*****************************************************************************/
/**
+ * Read mapping of next sync manager.
*/
void ec_fsm_coe_map_action_next_sync(
@@ -208,6 +211,7 @@ void ec_fsm_coe_map_action_next_sync(
/*****************************************************************************/
/**
+ * Count mapped PDOs.
*/
void ec_fsm_coe_map_state_pdo_count(
@@ -236,6 +240,7 @@ void ec_fsm_coe_map_state_pdo_count(
/*****************************************************************************/
/**
+ * Read next PDO.
*/
void ec_fsm_coe_map_action_next_pdo(
@@ -282,6 +287,7 @@ void ec_fsm_coe_map_action_next_pdo(
/*****************************************************************************/
/**
+ * Fetch PDO information.
*/
void ec_fsm_coe_map_state_pdo(
@@ -362,6 +368,7 @@ void ec_fsm_coe_map_state_pdo(
/*****************************************************************************/
/**
+ * Read number of PDO entries.
*/
void ec_fsm_coe_map_state_pdo_entry_count(
@@ -390,6 +397,7 @@ void ec_fsm_coe_map_state_pdo_entry_count(
/*****************************************************************************/
/**
+ * Read next PDO entry.
*/
void ec_fsm_coe_map_action_next_pdo_entry(
@@ -423,6 +431,7 @@ void ec_fsm_coe_map_action_next_pdo_entry(
/*****************************************************************************/
/**
+ * Read PDO entry information.
*/
void ec_fsm_coe_map_state_pdo_entry(
diff --git a/master/fsm_coe_map.h b/master/fsm_coe_map.h
index bbf306db6943729c8c4c05dfc40a933a99aa902e..b6820a497201c2cdcdf35c4061ada7fb0f1c1727 100644
--- a/master/fsm_coe_map.h
+++ b/master/fsm_coe_map.h
@@ -59,18 +59,18 @@ struct ec_fsm_coe_map
ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
ec_slave_t *slave; /**< EtherCAT slave */
- ec_sdo_request_t request;
-
- unsigned int sync_index;
- ec_sdo_t *sync_sdo;
- uint8_t sync_subindices;
- uint16_t sync_subindex;
-
- struct list_head pdos;
- ec_pdo_t *pdo;
- ec_sdo_t *pdo_sdo;
- uint8_t pdo_subindices;
- uint16_t pdo_subindex;
+ ec_sdo_request_t request; /**< SDO request */
+
+ unsigned int sync_index; /**< index of the current sync manager */
+ ec_sdo_t *sync_sdo; /**< pointer to the sync managers mapping SDO */
+ uint8_t sync_subindices; /**< number of mapped PDOs */
+ uint16_t sync_subindex; /**< current subindex in mapping SDO */
+
+ struct list_head pdos; /**< list of mapped PDOs */
+ ec_pdo_t *pdo; /**< current PDO */
+ ec_sdo_t *pdo_sdo; /**< current PDO SDO */
+ uint8_t pdo_subindices; /**< number of PDO entries */
+ uint16_t pdo_subindex; /**< current subindex in PDO SDO */
};
/*****************************************************************************/
diff --git a/master/fsm_mapping.c b/master/fsm_mapping.c
index 96d400d76f85b8fc016793bebc018f79067bab7a..a3eed9262d7da55dfc59db95552bb9dc77918090 100644
--- a/master/fsm_mapping.c
+++ b/master/fsm_mapping.c
@@ -138,10 +138,11 @@ int ec_fsm_mapping_success(
}
/******************************************************************************
- * PDO mapping state machine
+ * state functions
*****************************************************************************/
/**
+ * Start mapping configuration.
*/
void ec_fsm_mapping_state_start(
@@ -155,6 +156,7 @@ void ec_fsm_mapping_state_start(
/*****************************************************************************/
/**
+ * Process mapping of next sync manager.
*/
void ec_fsm_mapping_next_sync(
@@ -200,6 +202,7 @@ void ec_fsm_mapping_next_sync(
/*****************************************************************************/
/**
+ * Process mapping of next PDO.
*/
ec_pdo_t *ec_fsm_mapping_next_pdo(
@@ -223,6 +226,7 @@ ec_pdo_t *ec_fsm_mapping_next_pdo(
/*****************************************************************************/
/**
+ * Set the number of mapped PDOs to zero.
*/
void ec_fsm_mapping_state_zero_count(
@@ -268,6 +272,7 @@ void ec_fsm_mapping_state_zero_count(
/*****************************************************************************/
/**
+ * Add a PDO to the sync managers mapping.
*/
void ec_fsm_mapping_state_add_pdo(
@@ -318,6 +323,7 @@ void ec_fsm_mapping_state_add_pdo(
/*****************************************************************************/
/**
+ * Set the number of mapped PDOs.
*/
void ec_fsm_mapping_state_pdo_count(
diff --git a/master/fsm_mapping.h b/master/fsm_mapping.h
index 68e3886a78afb380c660a0aca754ca3e4f4f0e5b..723e91753f1c5b9d541361b59bf00a9a45c18427 100644
--- a/master/fsm_mapping.h
+++ b/master/fsm_mapping.h
@@ -66,7 +66,7 @@ struct ec_fsm_mapping
ec_pdo_t *pdo; /**< current PDO */
ec_sdo_data_t sdodata; /**< SDO configuration data */
uint16_t sdo_value; /**< SDO value */
- unsigned int pdo_count;
+ unsigned int pdo_count; /**< number of mapped PDOs */
};
/*****************************************************************************/
diff --git a/master/fsm_master.c b/master/fsm_master.c
index 6c0311d015d7766be93343ad7a8b4bb6016b0890..9a0deedb97feed9cbfe092ebf53a3079d649823f 100644
--- a/master/fsm_master.c
+++ b/master/fsm_master.c
@@ -417,6 +417,7 @@ int ec_fsm_master_action_process_sdo(
/*****************************************************************************/
/**
+ * Check for slaves that are not configured and configure them.
*/
int ec_fsm_master_action_configure(
@@ -1029,6 +1030,7 @@ void ec_fsm_master_state_sdodict(ec_fsm_master_t *fsm /**< master state machine
/*****************************************************************************/
/**
+ * Scan the PDO mapping of a slave.
*/
void ec_fsm_master_state_pdomap(
diff --git a/master/fsm_master.h b/master/fsm_master.h
index 5f95f31aa9b19f99a66216ac0c25048eec595152..9040abb5dc9c9f8052c6b655a3fd5e8abffbd7c2 100644
--- a/master/fsm_master.h
+++ b/master/fsm_master.h
@@ -58,12 +58,12 @@
typedef struct
{
- struct list_head list;
- ec_slave_t *slave;
- off_t word_offset;
- size_t word_size;
- const uint8_t *data;
- ec_request_state_t state;
+ struct list_head list; /**< list head */
+ ec_slave_t *slave; /**< EtherCAT slave */
+ off_t word_offset; /**< SII address in words */
+ size_t word_size; /**< data size in words */
+ const uint8_t *data; /**< pointer to the data */
+ ec_request_state_t state; /**< state of the request */
}
ec_eeprom_write_request_t;
diff --git a/master/fsm_sii.c b/master/fsm_sii.c
index 18fa286046b93fefe0ed34bf8745ab8971737fa2..26c4af90bd37f7b061f764883f4b16d960782d7a 100644
--- a/master/fsm_sii.c
+++ b/master/fsm_sii.c
@@ -43,8 +43,15 @@
#include "master.h"
#include "fsm_sii.h"
-#define EEPROM_TIMEOUT 10 // read/write timeout [ms]
-#define EEPROM_INHIBIT 5 // time before evaluating answer at writing [ms]
+/**
+ * Read/Write timeout. [ms]
+ */
+#define EEPROM_TIMEOUT 10
+
+/**
+ * Time before evaluating answer at writing. [ms]
+ */
+#define EEPROM_INHIBIT 5
//#define SII_DEBUG
diff --git a/master/fsm_sii.h b/master/fsm_sii.h
index f469ba55f51c28cd64297878c7e7cfeec2aaec38..5721f7c790c078ecd58841157d960166d7bff77c 100644
--- a/master/fsm_sii.h
+++ b/master/fsm_sii.h
@@ -48,6 +48,9 @@
/*****************************************************************************/
+/**
+ * SII access addressing mode.
+ */
typedef enum
{
EC_FSM_SII_POSITION,
diff --git a/master/fsm_slave.c b/master/fsm_slave.c
index 663a60ec828c7fc627814ca8438c259f44181a72..091a2c55966790b1297aa9e80b7f0709f85a88c6 100644
--- a/master/fsm_slave.c
+++ b/master/fsm_slave.c
@@ -697,6 +697,7 @@ void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *fsm
/*****************************************************************************/
/**
+ * Check for mailbox sync managers to be configured.
*/
void ec_fsm_slave_conf_enter_mbox_sync(
@@ -810,6 +811,7 @@ void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *fsm /**< slave state mach
/*****************************************************************************/
/**
+ * Request PREOP state.
*/
void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -861,6 +863,7 @@ void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *fsm /**< slave state machine
/*****************************************************************************/
/**
+ * Check for SDO configurations to be applied.
*/
void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -916,6 +919,7 @@ void ec_fsm_slave_conf_state_sdoconf(
/*****************************************************************************/
/**
+ * Check for alternative PDO mappings to be applied.
*/
void ec_fsm_slave_conf_enter_mapconf(
@@ -962,6 +966,7 @@ void ec_fsm_slave_conf_state_mapconf(
/*****************************************************************************/
/**
+ * Check for PDO sync managers to be configured.
*/
void ec_fsm_slave_conf_enter_pdo_sync(
@@ -994,6 +999,7 @@ void ec_fsm_slave_conf_enter_pdo_sync(
/*****************************************************************************/
/**
+ * Configure PDO sync managers.
*/
void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -1027,7 +1033,8 @@ void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machi
/*****************************************************************************/
/**
-*/
+ * Check for FMMUs to be configured.
+ */
void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
{
@@ -1089,6 +1096,7 @@ void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *fsm /**< slave state machine *
/*****************************************************************************/
/**
+ * Request SAVEOP state.
*/
void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)
diff --git a/master/fsm_slave.h b/master/fsm_slave.h
index 9bb6fa3e6a5faf680d544425720a42da8a27992f..16b0c7e2d85a13ae03b76eec0d2aa17b914e8fca 100644
--- a/master/fsm_slave.h
+++ b/master/fsm_slave.h
@@ -66,7 +66,7 @@ struct ec_fsm_slave
void (*state)(ec_fsm_slave_t *); /**< state function */
ec_sdo_data_t *sdodata; /**< SDO configuration data */
- uint16_t sii_offset;
+ uint16_t sii_offset; /**< SII offset in words */
ec_fsm_sii_t fsm_sii; /**< SII state machine */
ec_fsm_change_t fsm_change; /**< State change state machine */
diff --git a/master/globals.h b/master/globals.h
index 00044b72a7d1a2e146a2795bac1b7fedc4213a71..faf1320093bfe83d74fee1f5d952140af8e07f22 100644
--- a/master/globals.h
+++ b/master/globals.h
@@ -201,7 +201,7 @@ ec_request_state_t;
/*****************************************************************************/
-typedef struct ec_sdo ec_sdo_t;
+typedef struct ec_sdo ec_sdo_t; /**< \see ec_sdo */
/*****************************************************************************/
diff --git a/master/master.c b/master/master.c
index f5268a0c44993156111dfb7541f21c7e84fd7c61..3f62f99a5b845fc930b4c6c063629687d52db112 100644
--- a/master/master.c
+++ b/master/master.c
@@ -57,13 +57,11 @@
/*****************************************************************************/
void ec_master_destroy_domains(ec_master_t *);
-void ec_master_sync_io(ec_master_t *);
static int ec_master_idle_thread(ec_master_t *);
static int ec_master_operation_thread(ec_master_t *);
#ifdef EC_EOE
void ec_master_eoe_run(unsigned long);
#endif
-void ec_master_check_sdo(unsigned long);
ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,
const char *, size_t);
@@ -917,10 +915,15 @@ schedule:
/*****************************************************************************/
+/**
+ * Prints the device information to a buffer.
+ * \return number of bytes written.
+ */
+
ssize_t ec_master_device_info(
- const ec_device_t *device,
- const uint8_t *mac,
- char *buffer
+ const ec_device_t *device, /**< EtherCAT device */
+ const uint8_t *mac, /**< MAC address */
+ char *buffer /**< target buffer */
)
{
unsigned int frames_lost;
diff --git a/master/master.h b/master/master.h
index f11f858810da659e482b9a8404a55118c1860007..60d44b8bb8818da32f15221caf4c6ea2135d70c2 100644
--- a/master/master.h
+++ b/master/master.h
@@ -132,7 +132,7 @@ struct ec_master
int debug_level; /**< master debug level */
ec_stats_t stats; /**< cyclic statistics */
- unsigned int pdo_slaves_offline; /** number of slaves, for which PDOs
+ unsigned int pdo_slaves_offline; /**< number of slaves, for which PDOs
were registered and that are offline
(used for bus status) */
unsigned int frames_timed_out; /**< there were frame timeouts in the last
diff --git a/master/module.c b/master/module.c
index 302fea10c70fea4174cf49141bef0f67722e196a..e5b1b46d9faf30e7f41af6226a86f39fd9b36f0d 100644
--- a/master/module.c
+++ b/master/module.c
@@ -75,7 +75,7 @@ static uint8_t macs[MAX_MASTERS][2][ETH_ALEN]; /**< MAC addresses */
static dev_t device_number; /**< XML character device number */
ec_xmldev_t xmldev; /**< XML character device */
-char *ec_master_version_str = EC_MASTER_VERSION;
+char *ec_master_version_str = EC_MASTER_VERSION; /**< master version string */
/*****************************************************************************/
@@ -207,6 +207,10 @@ void __exit ec_cleanup_module(void)
* MAC address functions
****************************************************************************/
+/**
+ * \return true, if two MAC addresses are equal.
+ */
+
int ec_mac_equal(const uint8_t *mac1, const uint8_t *mac2)
{
unsigned int i;
@@ -220,7 +224,15 @@ int ec_mac_equal(const uint8_t *mac1, const uint8_t *mac2)
/*****************************************************************************/
-ssize_t ec_mac_print(const uint8_t *mac, char *buffer)
+/**
+ * Print a MAC address to a buffer.
+ * \return number of bytes written.
+ */
+
+ssize_t ec_mac_print(
+ const uint8_t *mac, /**< MAC address */
+ char *buffer /**< target buffer */
+ )
{
off_t off = 0;
unsigned int i;
@@ -235,6 +247,10 @@ ssize_t ec_mac_print(const uint8_t *mac, char *buffer)
/*****************************************************************************/
+/**
+ * \return true, if the MAC address is all-zero.
+ */
+
int ec_mac_is_zero(const uint8_t *mac)
{
unsigned int i;
@@ -248,6 +264,10 @@ int ec_mac_is_zero(const uint8_t *mac)
/*****************************************************************************/
+/**
+ * \return true, if the given MAC address is the broadcast address.
+ */
+
int ec_mac_is_broadcast(const uint8_t *mac)
{
unsigned int i;
@@ -261,6 +281,13 @@ int ec_mac_is_broadcast(const uint8_t *mac)
/*****************************************************************************/
+/**
+ * Parse a MAC address from a string.
+ * The MAC address must follow the regexp
+ * "([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}".
+ \return 0 on success, else < 0
+ */
+
static int ec_mac_parse(uint8_t *mac, const char *src, int allow_empty)
{
unsigned int i, value;
diff --git a/master/slave.c b/master/slave.c
index 71d5181c0bf3abdcf64cfb6208c75baa585dcf12..448c38edecbe6f42d3bac4c7d48e6d827a701816 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -282,7 +282,8 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
/*****************************************************************************/
/**
-*/
+ * SDO kobject clear method.
+ */
void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)
{
@@ -374,6 +375,7 @@ void ec_slave_set_online_state(ec_slave_t *slave, /**< EtherCAT slave */
/*****************************************************************************/
/**
+ * Request a slave state and resets the error flag.
*/
void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
@@ -875,7 +877,9 @@ size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
* \return 0 case of success, otherwise error code.
*/
-int ec_slave_schedule_eeprom_writing(ec_eeprom_write_request_t *request)
+int ec_slave_schedule_eeprom_writing(
+ ec_eeprom_write_request_t *request /**< EEPROM write request */
+ )
{
ec_master_t *master = request->slave->master;
@@ -924,7 +928,10 @@ int ec_slave_schedule_eeprom_writing(ec_eeprom_write_request_t *request)
* \return CRC8
*/
-uint8_t ec_slave_eeprom_crc(const uint8_t *data, size_t length)
+uint8_t ec_slave_eeprom_crc(
+ const uint8_t *data, /**< pointer to data */
+ size_t length /**< number of bytes in \a data */
+ )
{
unsigned int i;
uint8_t bit, byte, crc = 0x48;
@@ -1179,6 +1186,8 @@ ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
/*****************************************************************************/
/**
+ * Get the sync manager for either Rx- or Tx-PDOs.
+ * \return pointer to sync manager, or NULL.
*/
ec_sync_t *ec_slave_get_pdo_sync(
@@ -1372,6 +1381,10 @@ int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
/*****************************************************************************/
+/**
+ * Clear slave's PDO mapping.
+ */
+
void ecrt_slave_pdo_mapping_clear(
ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir /**< output/input */
@@ -1393,10 +1406,14 @@ void ecrt_slave_pdo_mapping_clear(
/*****************************************************************************/
+/**
+ * Add a PDO to the list of known mapped PDOs.
+ */
+
int ecrt_slave_pdo_mapping_add(
ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir, /**< input/output */
- uint16_t pdo_index /**< Index of PDO mapping list */)
+ uint16_t pdo_index /**< Index of mapped PDO */)
{
ec_pdo_t *pdo;
ec_sync_t *sync;
@@ -1444,6 +1461,11 @@ int ecrt_slave_pdo_mapping_add(
/*****************************************************************************/
+/**
+ * Convenience function for ecrt_slave_pdo_mapping_clear() and
+ * ecrt_slave_pdo_mapping_add().
+ */
+
int ecrt_slave_pdo_mapping(ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir, /**< input/output */
unsigned int num_args, /**< Number of following arguments */
diff --git a/master/slave.h b/master/slave.h
index 392719ff4477893a2caf43efe773984c4fea13cf..e10942307eb9e3adedc7f7d6bf79f49adf6aa56e 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -83,6 +83,7 @@ ec_slave_state_t;
/*****************************************************************************/
/**
+ * EtherCAT slave online state.
*/
typedef enum {
diff --git a/master/sync.c b/master/sync.c
index e0fc12739bdcca2895e9afe3050c15328b882a48..c9bc06bace4b766fadbb5073d2f1ddc97e1266c5 100644
--- a/master/sync.c
+++ b/master/sync.c
@@ -140,6 +140,8 @@ void ec_sync_config(
/*****************************************************************************/
/**
+ * Adds a PDO to the list of known mapped PDOs.
+ * \return 0 on success, else < 0
*/
int ec_sync_add_pdo(
@@ -178,6 +180,7 @@ int ec_sync_add_pdo(
/*****************************************************************************/
/**
+ * Clears the list of known mapped PDOs.
*/
void ec_sync_clear_pdos(
@@ -197,6 +200,7 @@ void ec_sync_clear_pdos(
/*****************************************************************************/
/**
+ * \return Type of PDOs covered by the given sync manager.
*/
ec_pdo_type_t ec_sync_get_pdo_type(
diff --git a/master/xmldev.c b/master/xmldev.c
index d639e479538cd9bbd87fbfb7098c614ab41b1045..dc471f3b23b099af51a15e59acd174e831027ae7 100644
--- a/master/xmldev.c
+++ b/master/xmldev.c
@@ -45,6 +45,8 @@
/*****************************************************************************/
+/** \cond */
+
static char *test_str = "hello world!\n";
int ecxmldev_open(struct inode *, struct file *);
@@ -169,4 +171,6 @@ ssize_t ecxmldev_write(struct file *filp,
return -EFAULT;
}
+/** \endcond */
+
/*****************************************************************************/
diff --git a/master/xmldev.h b/master/xmldev.h
index 2d70c9c5635da8819ba19fcdcf71814bae3f03cf..996c395850aa6bb6a8d8a4927e94ce452203ecca 100644
--- a/master/xmldev.h
+++ b/master/xmldev.h
@@ -63,11 +63,15 @@ ec_xmldev_t;
/*****************************************************************************/
+/** \cond */
+
int ec_xmldev_init(ec_xmldev_t *, ec_master_t *, dev_t);
void ec_xmldev_clear(ec_xmldev_t *);
int ec_xmldev_request(ec_xmldev_t *, uint32_t, uint32_t);
+/** \endcond */
+
/*****************************************************************************/
#endif